First simulation

Bring up the BlueROV2 with the full ROS stack (Gazebo server, bridge, robot_state_publisher and the GUI):

ros2 launch bluerov2_gazebo sim.launch.xml

The world starts paused — press play. The near-neutral vehicle drifts up very slowly until it floats essentially awash at the surface.

In a second terminal (also sourced), watch the camera:

ros2 topic echo /bluerov2/camera/camera_info --once

Or inspect the model and its frames in RViz:

ros2 launch bluerov2_description display.launch.xml

Next: drive it.